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Proceedings Paper

Outdoor navigation of a mobile robot with multiple sensors
Author(s): Huosheng Hu; Dongbing Gu; J. Michael Brady
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Paper Abstract

Outdoor navigation poses a challenge since uneven road surface, sunshine, clutter background will cause problems for odometry, laser, and vision sensors. To improve position accuracy, single strip retroreflective beacons have been used in the localization process. But to match observed beacons during the motion of the robot is a problem since all beacons are identical. Also strong reflective objects in outdoors may cause false reading.In this paper, we describe how we use the extended Kalman filter algorithm to integrate data scanned from the laser scanner rotating at 2Hz and readings from other sensors. The results obtained from outdoor navigation are presented.

Paper Details

Date Published: 25 January 1998
PDF: 12 pages
Proc. SPIE 3210, Mobile Robots XII, (25 January 1998); doi: 10.1117/12.299562
Show Author Affiliations
Huosheng Hu, Oxford Univ. (United Kingdom)
Dongbing Gu, Oxford Univ. (United Kingdom)
J. Michael Brady, Oxford Univ. (United Kingdom)

Published in SPIE Proceedings Vol. 3210:
Mobile Robots XII
Douglas W. Gage, Editor(s)

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